#ifndef __FILTER_H
#define __FILTER_H

	#define DEBUG1
	#ifndef DEBUG1  
	void getangle();
	void Yijielvbo(float angle_m, float gyro_m);
	void Erjielvbo(float angle_m,float gyro_m);
	void Kalman_Filter(double angle_m,double gyro_m);
	#endif

	#ifdef DEBUG1 
	float get_raw_angle(void);
	float Kalman_getAngle(float newAngle, float newRate, float dt);
	float* get_conctrl_angle(float *angle_gyro);
	#endif

#endif
